Working machine
A working machine includes a first rotation detector to detect a first rotation speed of the left traveling motor, a second rotation detector to detect a second rotation speed of the right traveling motor, and a controller to perform automatic deceleration to automatically reduce the first rotation speed and the second rotation speed both set at respective second speed stages by shifting a speed stage of each of the first rotation speed and the second rotation speed to a first speed stage that is lower than the second speed stage. During straight traveling of a machine body of the working machine, the controller determines a straight-traveling threshold serving as a deceleration threshold for judging whether to perform the automatic deceleration based on the first rotation speed or the second rotation speed.
1. A working machine comprising:
a machine body;
a left traveling device provided on a left portion of the machine body;
a right traveling device provided on a right portion of the machine body;
a left traveling motor to output a power to the left traveling device;
a right traveling motor to output a power to the right traveling device;
a first rotation detector to detect a first rotation speed that is a rotation speed of the left traveling motor;
a second rotation detector to detect a second rotation speed that is a rotation speed of the right traveling motor;
a left traveling pump to supply operation fluid to the left traveling motor;
a right traveling pump to supply operation fluid to the right traveling motor;
a traveling operation device to operate at least one of the left traveling pump and the right traveling pump; and
a controller to perform, when the first rotation speed and the second rotation speed are set at a second speed stage, automatic deceleration to automatically reduce the first rotation speed and the second rotation speed to a first speed stage lower than the second speed stage, wherein
during straight traveling of the machine body, the controller determines a straight-traveling threshold serving as a deceleration threshold for judging whether to perform the automatic deceleration based on the first rotation speed or the second rotation speed.
2. The working machine according to claim 1 , wherein
the controller determines the straight-traveling threshold which becomes higher as the first rotation speed or the second rotation speed increases, and which becomes lower as the first rotation speed or the second rotation speed decreases.
3. The working machine according to claim 1 , comprising:
a first circulation fluid line connecting the left traveling pump to the left traveling motor and including a portion connected to a first port of the left traveling motor and another portion connected to a second port of the left traveling motor;
a second circulation fluid line connecting the right traveling pump to the right traveling motor and including a portion connected to a third port of the right traveling motor and another portion connected to a fourth port of the right traveling motor;
a first pressure detector provided on the portion of the first circulation fluid line connected to the first port of the left traveling motor and configured to detect a first traveling pressure that is a pressure of operation fluid applied to the portion of the first circulation fluid line connected to the first port of the left traveling motor when rotating;
a second pressure detector provided on the portion of the first circulation fluid line connected to the second port of the left traveling motor and configured to detect a second traveling pressure that is a pressure of operation fluid applied to the portion of the first circulation fluid line connected to the second port of the left traveling motor when rotating;
a third pressure detector provided on the portion of the second circulation fluid line connected to the third port of the right traveling motor and configured to detect a third traveling pressure that is a pressure of operation fluid applied to the portion of the second circulation fluid line connected to the third port of the right traveling motor when rotating; and
a fourth pressure detector provided on the portion of the second circulation fluid line connected to the fourth port of the right traveling motor and configured to detect a fourth traveling pressure that is a pressure of operation fluid applied to the portion of the second circulation fluid line connected to the fourth port of the right traveling motor when rotating, wherein
during straight forward traveling of the machine body, the controller performs the automatic deceleration when both the first traveling pressure and the third traveling pressure are each kept equal to or higher than the straight-traveling threshold for a first judgment time or longer.
4. The working machine according to claim 2 , comprising:
a first circulation fluid line connecting the left traveling pump to the left traveling motor and including a portion connected to a first port of the left traveling motor and another portion connected to a second port of the left traveling motor;
a second circulation fluid line connecting the right traveling pump to the right traveling motor and including a portion connected to a third port of the right traveling motor and another portion connected to a fourth port of the right traveling motor;
a first pressure detector provided on the portion of the first circulation fluid line connected to the first port of the left traveling motor and configured to detect a first traveling pressure that is a pressure of operation fluid applied to the portion of the first circulation fluid line connected to the first port of the left traveling motor when rotating;
a second pressure detector provided on the portion of the first circulation fluid line connected to the second port of the left traveling motor and configured to detect a second traveling pressure that is a pressure of operation fluid applied to the portion of the first circulation fluid line connected to the second port of the left traveling motor when rotating;
a third pressure detector provided on the portion of the second circulation fluid line connected to the third port of the right traveling motor and configured to detect a third traveling pressure that is a pressure of operation fluid applied to the portion of the second circulation fluid line connected to the third port of the right traveling motor when rotating; and
a fourth pressure detector provided on the portion of the second circulation fluid line connected to the fourth port of the right traveling motor and configured to detect a fourth traveling pressure that is a pressure of operation fluid applied to the fourth port of the second circulation fluid line connected to the fourth port of the right traveling motor when rotating, wherein
during straight forward traveling of the machine body, the controller performs the automatic deceleration when both the first traveling pressure and the third traveling pressure are each kept equal to or higher than the straight-traveling threshold for a first judgment time or longer.
5. The working machine according to claim 3 , wherein
the controller determines the first judgment time which becomes shorter as the first rotation speed or the second rotation speed increases, and which becomes longer as the first rotation speed or the second rotation speed decreases.
6. The working machine according to claim 4 , wherein
the controller determines the first judgment time which becomes shorter as the first rotation speed or the second rotation speed increases, and which becomes longer as the first rotation speed or the second rotation speed decreases.
7. The working machine according to claim 1 , comprising:
a first circulation fluid line connecting the left traveling pump to the left traveling motor and including a portion connected to a first port of the left traveling motor, and another portion connected to a second port of the left traveling motor;
a second circulation fluid line connecting the right traveling pump to the right traveling motor and including a portion connected to a third port of the right traveling motor, and another portion connected to a fourth port of the right traveling motor;
a first pressure detector provided on the portion of the first circulation fluid line connected to the first port of the left traveling motor and configured to detect a first traveling pressure that is a pressure of operation fluid applied to the portion of the first circulation fluid line connected to the first port of the left traveling motor when rotating;
a second pressure detector provided on the portion of the first circulation fluid line connected to the second port of the left traveling motor and configured to detect a second traveling pressure that is a pressure of operation fluid applied to the portion of the first circulation fluid line connected to the second port of the left traveling motor when rotating;
a third pressure detector provided on the portion of the second circulation fluid line connected to the third port of the right traveling motor and configured to detect a third traveling pressure that is a pressure of operation fluid applied to the portion of the second circulation fluid line connected to the third port of the right traveling motor when rotating; and
a fourth pressure detector provided on the portion of the second circulation fluid line connected to the fourth port of the right traveling motor and configured to detect a fourth traveling pressure that is a pressure of operation fluid applied to the portion of the second circulation fluid line connected to the fourth port of the right traveling motor when rotating, wherein
during straight forward traveling of the machine body, the controller performs the automatic deceleration when both a first differential pressure obtained by subtracting the second traveling pressure from the first traveling pressure and a third differential pressure obtained by subtracting the fourth traveling pressure from the third traveling pressure are each kept equal to or higher than the straight-traveling threshold for a second judgment time or longer.
8. The working machine according to claim 2 , comprising:
a first circulation fluid line connecting the left traveling pump to the left traveling motor and including a portion connected to a first port of the left traveling motor, and another portion connected to a second port of the left traveling motor;
a second circulation fluid line connecting the right traveling pump to the right traveling motor and including a portion connected to a third port of the right traveling motor, and another portion connected to a fourth port of the right traveling motor;
a first pressure detector provided on the portion of the first circulation fluid line connected to the first port of the left traveling motor and configured to detect a first traveling pressure that is a pressure of operation fluid applied to the portion of the first circulation fluid line connected to the first port of the left traveling motor when rotating;
a second pressure detector provided on the portion of the first circulation fluid line connected to the second port of the left traveling motor and configured to detect a second traveling pressure that is a pressure of operation fluid applied to the portion of the first circulation fluid line connected to the second port of the left traveling motor when rotating;
a third pressure detector provided on the portion of the second circulation fluid line connected to the third port of the right traveling motor and configured to detect a third traveling pressure that is a pressure of operation fluid applied to the portion of the second circulation fluid line connected to the third port of the right traveling motor when rotating; and
a fourth pressure detector provided on the portion of the second circulation fluid line connected to the fourth port of the right traveling motor and configured to detect a fourth traveling pressure that is a pressure of operation fluid applied to the portion of the second circulation fluid line connected to the fourth port of the right traveling motor when rotating, wherein
during straight forward traveling of the machine body, the controller performs the automatic deceleration when both a first differential pressure obtained by subtracting the second traveling pressure from the first traveling pressure and a third differential pressure obtained by subtracting the fourth traveling pressure from the third traveling pressure are each kept equal to or higher than the straight-traveling threshold for a second judgment time or longer.
9. The working machine according to claim 7 , wherein
the controller determines the second judgment time which becomes shorter as the first rotation speed or the second rotation speed increases, and which becomes longer as the first rotation speed or the second rotation speed decreases.
10. The working machine according to claim 8 , wherein
the controller determines the second judgment time which becomes shorter as the first rotation speed or the second rotation speed increases, and which becomes longer as the first rotation speed or the second rotation speed decreases.
11. The working machine according to claim 1 , wherein
the controller does not perform the automatic deceleration when a traveling operation member included in the traveling operation device is operated in a direction for forward traveling of the machine body and the left traveling motor and the right traveling motor rotate in respective directions for backward traveling of the machine body.
12. The working machine according to claim 1 , wherein
the controller does not perform the automatic deceleration when the first rotation speed or the second rotation speed is equal to or more than a predetermined speed.
13. The working machine according to claim 10 , wherein
the controller does not perform the automatic deceleration when the first rotation speed of the left traveling motor is equal to or higher than a first maximum rotation speed of the left traveling motor set at the first speed stage or when the second rotation speed of the right traveling motor is equal to or higher than a second maximum rotation speed of the right traveling motor set at the first speed stage.
14. The working machine according to claim 1 , wherein
the controller determines the straight-traveling threshold when a traveling operation member included in the traveling operation device is operated in a direction for straight traveling of the machine body.
15. A working machine comprising:
a machine body;
a left traveling device provided on a left portion of the machine body;
a right traveling device provided on a right portion of the machine body;
a left traveling motor to output a power to the left traveling device;
a right traveling motor to output a power to the right traveling device;
a first rotation detector to detect a first rotation speed that is a rotation speed of the left traveling motor;
a second rotation detector to detect a second rotation speed that is a rotation speed of the right traveling motor;
a left traveling pump to supply operation fluid to the left traveling motor;
a right traveling pump to supply operation fluid to the right traveling motor;
a traveling operation device to operate at least one of the left traveling pump and the right traveling pump; and
a controller to perform, when the first rotation speed and the second rotation speed are set at a second speed stage, automatic deceleration to automatically reduce the first rotation speed and the second rotation speed to a first speed stage lower than the second speed stage, wherein
during straight traveling of the machine body, the controller determines a straight-traveling threshold serving as a deceleration threshold for judging whether to perform the automatic deceleration based on a rotation difference or rotation ratio between the first rotation speed and the second rotation speed.
16. The working machine according to claim 15 , wherein
the controller determines the straight-traveling threshold which becomes higher as the rotation difference increases, and which becomes lower as the rotation difference decreases.
17. The working machine according to claim 15 , wherein
the controller determines the straight-traveling threshold which becomes higher as the rotation ratio increases, and which becomes lower as the rotation ratio decreases.
18. The working machine according to claim 15 , wherein
the controller determines the straight-traveling threshold which becomes higher as a difference between a first ratio obtained by dividing the second rotation speed by the first rotation speed and a second ratio obtained by dividing the first rotation speed by the second rotation speed becomes larger, and which becomes lower as the difference between the first ratio and the second ratio becomes smaller.
19. The working machine according to claim 15 , comprising:
a first circulation fluid line connecting the left traveling pump to the left traveling motor and including a portion connected to a first port of the left traveling motor and another portion connected to a second port of the left traveling motor;
a second circulation fluid line connecting the right traveling pump to the right traveling motor and including a portion connected to a third port of the right traveling motor and another portion connected to a fourth port of the right traveling motor;
a first pressure detector provided on the portion of the first circulation fluid line connected to the first port of the left traveling motor and configured to detect a first traveling pressure that is a pressure of operation fluid applied to the portion of the first circulation fluid line connected to the first port of the left traveling motor when rotating;
a second pressure detector provided on the portion of the first circulation fluid line connected to the second port of the left traveling motor and configured to detect a second traveling pressure that is a pressure of operation fluid applied to the portion of the first circulation fluid line connected to the second port of the left traveling motor when rotating;
a third pressure detector provided on the portion of the second circulation fluid line connected to the third port of the right traveling motor and configured to detect a third traveling pressure that is a pressure of operation fluid applied to the portion of the second circulation fluid line connected to the third port of the right traveling motor when rotating; and
a fourth pressure detector provided on the portion of the second circulation fluid line connected to the fourth port of the right traveling motor and configured to detect a fourth traveling pressure that is a pressure of operation fluid applied to the portion of the second circulation fluid line connected to the fourth port of the right traveling motor when rotating, wherein
during straight forward traveling of the machine body, the controller performs the automatic deceleration when either one of the first traveling pressure and the third traveling pressure is equal to or more than the straight-traveling threshold.
20. The working machine according to claim 15 , comprising:
a first circulation fluid line connecting the left traveling pump to the left traveling motor and including a portion connected to a first port of the left traveling motor, and another portion connected to a second port of the left traveling motor;
a second circulation fluid line connecting the right traveling pump to the right traveling motor and including a portion connected to a third port of the right traveling motor, and another portion connected to a fourth port of the right traveling motor;
a first pressure detector provided on the portion of the first circulation fluid line connected to the first port of the left traveling motor and configured to detect a first traveling pressure that is a pressure of operation fluid applied to the portion of the first circulation fluid line connected to the first port of the left traveling motor when rotating;
a second pressure detector provided on the portion of the first circulation fluid line connected to the second port of the left traveling motor and configured to detect a second traveling pressure that is a pressure of operation fluid applied to the portion of the first circulation fluid line connected to the second port of the left traveling motor when rotating;
a third pressure detector provided on the portion of the second circulation fluid line connected to the third port of the right traveling motor and configured to detect a third traveling pressure that is a pressure of operation fluid applied to the portion of the second circulation fluid line connected to the third port of the right traveling motor when rotating; and
a fourth pressure detector provided on the portion of the second circulation fluid line connected to the fourth port of the right traveling motor and configured to detect a fourth traveling pressure that is a pressure of operation fluid applied to the portion of the second circulation fluid line connected to the fourth port of the right traveling motor when rotating, wherein
during straight forward traveling of the machine body, the controller performs the automatic deceleration when either one of a first differential pressure obtained by subtracting the second traveling pressure from the first traveling pressure and a third differential pressure obtained by subtracting the fourth traveling pressure from the third traveling pressure is equal to or more than the straight-traveling threshold.